ResearchBenchmarksInsertion on Real-robot Manipulation Galaxea A1X 6-DoF armFollow90Success RatePACT72.3276.9181.586.09Jun 2, 2026Evaluation ResultsMethodMethodLinksSuccess RateIntervention RateRun Time (min)PACT2026.069032.530.3HIL-SERL2026.067345.351.8